# Questions tagged [manipulator]

manipulator is a device used to manipulate materials without direct contact.

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### How to decide links length of manipulator?

I'm working on pick and place robotic arm with 4 dof. I'm using MATLAB for inverse kinematics. But, I want to know how to decide links length. Say, I have four point in space upto where my robotic arm ...
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### How can i consider orientation of 6dof manipulator for inverse kinematic?

i been trying to code IK solver for few days, and i finally move the robot to the desired position. However im having hard time to orient the end-effector as i want it. I read the "Robotics ...
258 views

### Find the kinematic parameters using DH by Craig convention

I am trying to find the kinametic parameters using the J. Craig of the DH parameters for the following 2-DOF robotic manipulator. where $\ x,y$ are the axes of the reference frame and $\ q_1 , q_2$...
863 views

### Developing world-frame Jacobian using product of exponentials [closed]

I am going through different texts (Spong Robot Modeling and Control, Murray Mathematical Introduction to Robotic Manipulations) and I am seeing different Jacobians developed for the same RRRP ...
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1 vote
44 views

### Can workspace of a manipulator change after considering its dynamics?

As per my knowledge, the workspace of a manipulator can be determined if one knows the forward and inverse kinematics. But is it possible that the workspace of the manipulator can change after ...
1 vote
149 views

### How can serial manipulator have unique condition number for given end effector position?

I am reading about Condition Number which is considered as measure of manipulability of robotic arm, it is defined as $$k = \parallel J \parallel \parallel J^{-1} \parallel$$ Where,  \parallel J \...
• 193
1 vote
887 views

### Validation of dh parameters

I am working on a concept of robotic arm for which I have fixed DH frames and parameters. Is there any way to validate the correctness of DH parameters and frames ?
• 193
1 vote
173 views

### How to obtain the Jacobian matrix for this 2Planar without differentiation

Take a look at the below picture, I would like to derive the Jacobian matrix without differentiation. In this Modern Robotics book, the screw theory is used. I've derived the forward kinematic using ...
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1 vote
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### What is canonical grasp?

What is a canonical grasp and how is it different from normal/other grasp? I've searched through internet and forums but haven't found any answers.
• 121
1 vote
59 views

### Task Space Control Parameters for 6-Dof Manipulator

I'm developing a Task Space controller based on speed for a Universal Robot 5. I've already calculated the Jacobian, position and rotation error for the classic control method: The method works fine ...
1 vote
26 views

### Control Algorithms for Kinesthetic Teaching

There are several algorithms for post-processing of kinesthetically demonstrated motions for manipulators learning a task. However, I have failed to find papers/research work on modeling the ...
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### Cloth (non-rigid body) manipulation with computer vision? [closed]

I am currently working on a prototype device to automate cloth ironing task. So basically the mechanical design involves 4 manipulators and a separate manipulator arm with a hot pad (iron) to ...
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1 vote
106 views

### VAL language and velocity control of industrial robot

In my bachelor, I programmed CNC machines. Now, working with an Industrial robot arm, I learn that their programming languages are mostly similar. VAL is a typical example, for instance: ...
• 123
1 vote
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### Dynamics of parallel manipulator

My task is to apply forces to control 3-dof parallel manipulator. Forces are applied to linear actuators, friction is neglected. End-effector of a robot is supposed to follow generated path; for ...
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### What does "resolution of a sensor" mean? [closed]

I am studying robotics and I am focusing my attention on the sensors used on robot manipulators. I have seen that there a proprioceptive sensors, such as encoders, and exteroceptive sensors, such as ...
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